CN114872048A - Robot steering engine angle calibration method - Google Patents
Robot steering engine angle calibration method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention relates to a robot steering engine angle calibration method, which belongs to the technical field of computer vision and comprises the following steps: shooting a pre-rotation image which is just opposite to a reference object and a post-rotation image which rotates relative to the reference object by utilizing a camera device which synchronously rotates along with the steering engine; matching each corner point of the reference area in the image before rotation and the image after rotation to calculate the total deformation degree of each corner point of the reference area, and calculating the mean value of the movement distance of each corner point of the reference area; adding the total deformation degree of each corner point of the reference area, the occupation change of the reference area and the edge deformation degree of the reference area to form the integral deformation degree of the reference area; determining the actual rotation angle of the steering engine according to the overall deformation degree of the reference area; calibrating the steering engine according to the difference value between the actual rotation angle of the steering engine and the preset rotation angle; according to the steering engine calibration method, the steering engine is calibrated through two images shot by the camera device, the calibration process is simple, and the calibration efficiency is high.
Description
Technical Field
The invention belongs to the technical field of computer vision, and particularly relates to a robot steering engine angle calibration method.
Background
With the progress of science and technology, people deepen the understanding of the intelligentized essence of the robot technology, and the robot technology continuously permeates into various fields of human activities. In combination with the application characteristics of various fields, people develop various intelligent robots with sensing, decision-making, action and interaction capabilities. In order to ensure the flexible movement of each joint of the robot, the steering engine is generally arranged in each movable joint of the robot, and the output shaft of the steering engine is fixedly connected with each fixed position of the robot on the shutdown state, so that the steering engine can drive the joint of the robot to move when in operation. With the continuous development of steering engine technology, various types of steering engines are developed endlessly, so that the wide popularization of various robots driven by the steering engines becomes possible.
Meanwhile, due to the reasons of fit accuracy of the steering engine and the rudder plate, machining errors and the like, the joint zero position of the installed robot can deviate from the target position. Therefore, before the robot is used, all joints need to be calibrated to ensure that different rotation angles of the steering engine can correspond to different movement positions of the joints of the robot one by one, and the steering engine can accurately control the movement positions of the joints of the robot. However, the existing steering engine angle calibration method usually requires manual intervention, and needs to perform secondary calibration, so that the calibration process is complex and the efficiency is low.
Disclosure of Invention
The invention provides a robot steering engine angle calibration method, and aims to solve the problems that manual intervention is usually required, secondary calibration is required, the calibration process is complex, and the efficiency is low in the conventional steering engine angle calibration method.
The invention discloses a robot steering engine angle calibration method, which adopts the following technical scheme: the method comprises the following steps:
acquiring a pre-rotation image of the camera device facing a reference object and a post-rotation image of the camera device rotating relative to the reference object by using the camera device rotating synchronously with the steering engine;
matching each corner point of the reference area in the image before rotation and the image after rotation, and calculating a deformation degree sequence of each corner point of the reference area and a total deformation degree of each corner point of the reference area according to the vectors from each corner point of the reference area to the center of mass of the reference area;
calculating the mean value of the movement distance of each corner point of the reference object area according to the position coordinates of each corner point of the reference object area in the image before rotation and the image after rotation and the deformation degree of each corner point of the reference object area;
determining reference region pixel number ratio change according to the reference region pixel number ratio in the image before rotation and the reference region pixel number ratio in the image after rotation;
performing straight line fitting and matching on the edges of the reference regions in the image before rotation and the image after rotation, and determining the edge deformation degree of the reference regions according to the change of the slope of the straight line where the edges of the reference regions are located;
adding the total deformation degree of each corner point of the reference area, the occupation ratio change of the reference area and the edge deformation degree of the reference area to form the overall deformation degree of the reference area;
determining the actual rotation angle of the steering engine according to the mean value of the moving distance of each corner point of the reference object area, the whole deformation degree of the reference object area and the initial distance between the camera device and the reference object;
and calculating a difference value between the actual rotating angle and a preset rotating angle of the steering engine, and calibrating the steering engine according to the difference value.
Further, calculating a deformation degree sequence of each corner point of the reference area and a total deformation degree of each corner point of the reference area according to the vector from each corner point of the reference area to the centroid of the reference area, and the method comprises the following steps:
acquiring a first vector sequence consisting of first vectors from each corner point of a reference region to the centroid of the reference region in the image before rotation;
acquiring a second vector sequence consisting of second vectors from each corner point of the reference area to the centroid of the reference area in the rotated image;
calculating a first absolute value of a corresponding vector difference value in the first vector sequence and the second vector sequence, and forming a sequence of deformation degrees of each corner point of the reference area by all the obtained first absolute values;
and taking the sum of the deformation degree sequences of the corner points of the reference area as the total deformation degree of the corner points of the reference area.
Further, calculating an average value of the movement distance of each corner point of the reference area according to the position coordinates of each corner point of the reference area in the image before rotation and the image after rotation and the deformation degree of each corner point of the reference area, including:
acquiring first coordinates of each corner point of a reference region in the image before rotation;
acquiring second coordinates of each corner point of the reference region in the rotated image;
calculating the moving distance of each corner point of the reference area according to the first coordinate and the second coordinate;
all the obtained moving distance values form a moving distance set of each corner point of the reference area;
obtaining the ratio of the deformation degree of each corner point of the reference area to the total deformation degree of each corner point of the reference area, and taking each obtained ratio as the weight of the movement distance of each corner point of the reference area;
and calculating the mean value of the movement distance of each corner point of the reference object area according to the movement distance set of each corner point of the reference object area and the weight of the movement distance of each corner point of the reference object area.
Further, determining a reference area ratio change according to the reference area pixel point number ratio in the image before rotation and the reference area pixel point number ratio in the image after rotation, including:
calculating the ratio of the number of pixel points of the reference region in the image before rotation to the total number of pixel points in the image before rotation, and recording the ratio as a first ratio;
calculating the ratio of the number of the pixel points of the reference region in the rotated image to the total number of the pixel points in the rotated image, and recording the ratio as a second ratio;
and changing the second ratio and the first ratio by taking the absolute value of the difference between the second ratio and the first ratio as a reference area ratio.
Further, performing line fitting and matching on the edges of the reference area in the image before rotation and the image after rotation, and determining the edge deformation degree of the reference area according to the change of the slope of the line where the edge of the reference area is located, including:
performing linear fitting on the edges of the reference regions in the image before rotation to obtain a plurality of rotation front edge lines;
performing linear fitting on the edges of the reference regions in the rotated image to obtain a plurality of rotated edge lines;
matching the plurality of rotating front edge straight lines with the plurality of rotating rear edge straight lines to obtain rotating front edge straight lines and rotating rear edge straight lines corresponding to all edges of the reference area;
and determining the deformation degree of the edges of the reference area according to the change of the slopes of the straight line of the front edge of the rotation and the straight line of the rear edge of the rotation corresponding to each edge of the reference area.
Further, the method for determining the actual rotation angle of the steering engine according to the mean value of the moving distance of each corner point of the reference object area, the whole deformation degree of the reference object area and the initial distance between the camera device and the reference object comprises the following steps:
calculating the actual moving distance of the reference object area according to the mean value of the moving distances of all corner points of the reference object area and the overall deformation degree of the reference object area;
and determining the actual rotation angle of the steering engine according to the actual moving distance of the reference object region and the initial distance between the camera device and the reference object.
Further, calculating a mean value of the movement distance of each corner point of the reference object area according to the set of movement distances of each corner point of the reference object area and the weight of the movement distance of each corner point of the reference object area, including:
acquiring the moving distance of each corner point in the reference object region and the weight of the moving distance corresponding to the corner point;
multiplying the moving distance of each corner point in the reference object region by the weight of the moving distance corresponding to the corner point to obtain the weighted moving distance of each corner point;
adding the weighted moving distances of all the corner points in the reference object area to obtain the weighted moving distance sum of all the corner points in the reference object area;
dividing the sum of the weighted movement distances for all the corners in the reference region by the total number of the corners in the reference region yields a mean movement distance for each corner of the reference region.
Further, determining the degree of deformation of the edges of the reference area according to the change of the slopes of the front edge rotation line and the rear edge rotation line corresponding to each edge of the reference area, includes:
calculating the change difference of the slopes of the straight line of the rotating front edge and the straight line of the rotating rear edge corresponding to each edge of the reference area, and recording the change difference as the slope change difference of the straight line of the edge;
and adding the absolute values of all the obtained edge straight line slope change differences to serve as the degree of edge deformation of the reference area.
The invention has the beneficial effects that:
the camera device which is arranged on the robot and synchronously rotates along with the steering engine shoots a pre-rotation image which is just opposite to a reference object and a post-rotation image which rotates relative to the reference object. And processing the image before rotation and the image after rotation, and adding the total deformation degree of each corner point of the reference area in the image before rotation and the image after rotation, the ratio change of the reference area and the edge deformation degree of the reference area to be used as the overall deformation degree of the reference area.
And determining the actual rotation angle of the steering engine according to the whole deformation degree of the reference object area, the mean value of the moving distance of each corner point of the reference object area and the initial distance between the camera device and the reference object when the camera device is over against the reference object. And then, carrying out zero setting calibration on the steering engine according to the difference value between the actual rotating angle and the preset rotating angle of the robot preset in the command of the controller.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart showing the general steps of an embodiment of a method for calibrating the angle of a steering engine of a robot according to the present invention;
fig. 2 is a schematic flowchart of step S2 of an embodiment of a method for calibrating an angle of a steering engine of a robot according to the present invention;
fig. 3 is a schematic flowchart of step S3 of an embodiment of a method for calibrating an angle of a steering engine of a robot according to the present invention;
fig. 4 is a flowchart illustrating step S5 of the method for calibrating an angle of a steering engine of a robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention relates to a method for calibrating the angle of a robot steering engine, which comprises the following steps of:
and S1, acquiring a pre-rotation image of the camera device facing the reference object and a post-rotation image of the camera device rotating relative to the reference object by using the camera device rotating synchronously with the steering engine.
When the robot obtains images, a camera device which synchronously rotates along with a steering engine is arranged on the robot, and the camera device is used for shooting images before rotation which are just opposite to a reference object and images after rotation which are rotated relative to the reference object. When the camera device is over against the reference object, the distance between the camera device and the reference object is minimum. When the image pickup device rotates relative to the reference object and then shoots the rotated image, the position of the reference object in the rotated image and the shape of the reference object are changed.
Wherein, the specific reference object can be selected by the user according to specific conditions. In the invention, a black and white chessboard is selected as a reference object.
And S2, matching each corner of the reference area in the image before rotation and the image after rotation, and calculating the deformation degree sequence of each corner of the reference area and the deformation degree sum of each corner of the reference area according to the vectors from each corner of the reference area to the centroid of the reference area.
As shown in fig. 2: and S21, acquiring a first vector sequence consisting of first vectors from each corner of the reference object area to the centroid of the reference object area in the image before rotation.
The first vector sequence is shown as the following formula (1):
where n represents the total number of corner points of the reference regions.
And S22, acquiring a second vector sequence consisting of second vectors from each corner point of the reference area to the centroid of the reference area in the rotated image.
The second vector sequence is shown in the following formula (2):
where n represents the total number of corner points of the reference regions.
And S23, calculating first absolute values of corresponding vector difference values in the first vector sequence and the second vector sequence, and forming a sequence of deformation degrees of each corner point of the reference area by all the obtained first absolute values.
The sequence of the deformation degree of each corner point of the reference area is shown as the following formula (3):
where n represents the total number of corner points of the reference regions.
And S24, taking the sum of the deformation degree sequences of the corner points of the reference area as the total deformation degree of the corner points of the reference area.
The total deformation degree of each corner point of the reference area is shown as the following formula (4):
wherein u is i Representing the deformation degree of each corner point of the reference area; n represents the sum of the number of corner points of the reference regions.
And S3, calculating the mean value of the moving distance of each corner point of the reference area according to the position coordinates of each corner point of the reference area in the image before rotation and the image after rotation and the deformation degree of each corner point of the reference area.
As shown in fig. 3: and S31, acquiring first coordinates of each corner point of the reference object area in the image before rotation.
The first coordinate is (x) i ,y i ) Where, i is {1,2, …, n }, and n represents the total number of reference region corner points.
And S32, acquiring second coordinates of each corner point of the reference area in the rotated image.
The second coordinate is (a) i ,b i ) Where, i is {1,2, …, n }, and n represents the total number of reference region corner points.
And S33, calculating the moving distance of each corner point of the reference area according to the first coordinate and the second coordinate.
The movement distance of each corner point of the reference region is shown in the following formula (5):
wherein (x) i ,y i ) Representing first coordinates of each corner point of the reference area in the image before rotation; (a) i ,b i ) Representing second coordinates of each corner of the reference area in the rotated image.
And S34, forming a set of movement distances of each corner point of the reference area by all the obtained movement distance values.
The set of movement distances of each corner of the reference regions is shown in the following formula (6):
A i ＝{A 1 ,A 2 ,…,A n } (6)
where n represents the total number of corner points of the reference regions.
And S35, obtaining the ratio of the deformation degree of each corner point of the reference area to the total deformation degree of each corner point of the reference area, and taking each obtained ratio as the weight of the moving distance of each corner point of the reference area.
And taking all the obtained ratios as a weight set of the movement distance of each corner of the reference area, wherein the weight set of the movement distance of each corner of the reference area is shown as the following formula (7):
wherein u is i Representing the deformation degree of each corner point of the reference area; u denotes the sum of the degrees of deformation of the corner points of the reference regions.
And S36, calculating the mean value of the movement distance of each corner point of the reference area according to the set of movement distances of each corner point of the reference area and the weight of the movement distance of each corner point of the reference area.
Acquiring the moving distance of each corner point in the reference object area and the weight of the moving distance corresponding to the corner point; multiplying the moving distance of each corner point in the reference object region by the weight of the moving distance corresponding to the corner point to obtain the weighted moving distance of each corner point; adding the weighted moving distances of all the corner points in the reference object area to obtain the weighted moving distance sum of all the corner points in the reference object area; dividing the weighted sum of the moved distances of all the corners in the reference region by the total number of all the corners in the reference region to obtain a mean value of the moved distances of the corners of the reference region.
The average of the moving distances of the corner points of the reference regions is shown in the following formula (8):
wherein A represents the mean value of the moving distance of each corner point of the reference area; a. the i Representing the movement distance of the ith corner point of the reference area; v. of i A weight representing a distance moved by an ith angular point of the reference area; n represents the sum of the number of corner points of the reference regions.
And S4, determining the change of the reference area ratio according to the ratio of the number of the reference area pixel points in the image before rotation and the ratio of the number of the reference area pixel points in the image after rotation.
The number of pixel points of the reference region in the image before rotation is in proportion D 1 The formula (2) is shown in the following formula (9):
wherein D is c Representing the number of pixel points of the reference region in the image before rotation; d z And representing the total number of pixel points in the image before rotation.
According to the number of pixel points of the reference region in the image before rotation, the ratio D 1 The calculation method of (2) calculates the number ratio D of the pixel points of the reference region in the rotated image 2 。
The calculation formula of the reference region proportion change is shown in the following formula (10):
P＝|D 2 -D 1 | (10)
wherein P represents a reference region ratio change; d 1 Representing the number of pixel points of the reference region in the image before rotation; d 2 Representing the number of pixel points of the reference region in the rotated image 2 。
And S5, performing straight line fitting and matching on the edges of the reference area in the image before rotation and the image after rotation, and determining the edge deformation degree of the reference area according to the change of the slope of the straight line where the edges of the reference area are located.
As shown in fig. 4: and S51, performing straight line fitting on the edges of the reference areas in the image before rotation to obtain a plurality of straight lines of the edges of the rotation front edges.
And S52, performing straight line fitting on the edges of the reference areas in the rotated image to obtain a plurality of rotated edge straight lines.
And S53, matching the plurality of rotation front edge straight lines with the plurality of rotation rear edge straight lines to obtain rotation front edge straight lines and rotation rear edge straight lines corresponding to all edges of the reference object area.
In the invention, a black and white chessboard is selected as a reference object. The black-white chessboard has four edge straight lines, and the equation of the four edge straight lines is shown as the following formula (11):
wherein k is 1 、k 2 、k 3 、k 4 The slopes of the four rotated front edge lines, respectively.
The same reason can be obtained that the slopes of the four rotated edge straight lines are k' 1 、k′ 2 、k′ 3 、k′ 4 . Wherein k is 1 And k' 1 The slope of the line of the same edge of the reference area at the leading edge of the rotation and the slope of the line of the trailing edge of the rotation.
And S54, determining the deformation degree of the edges of the reference area according to the change of the slopes of the rotation front edge straight line and the rotation rear edge straight line corresponding to each edge of the reference area.
Calculating the change difference value of the slope of the edge straight line before rotation and the slope of the edge straight line after rotation corresponding to each edge of the reference object area, and recording the change difference value as the change difference value of the slope of the edge straight line; and adding the absolute values of all the obtained edge straight line slope change differences to serve as the degree of edge deformation of the reference area.
The calculation formula of the deformation degree of the edge of the reference region is shown as the following formula (12):
K＝|k′ 1 -k 1 |+|k′ 2 -k 2 |+|k′ 3 -k 3 |+|k′ 4 -k 4 | (12)
wherein K represents the deformation degree of the edge of the reference area; k is a radical of 1 、k 2 、k 3 、k 4 The slopes of the four rotating front edge lines respectively; k' 1 、k′ 2 、k′ 3 、k′ 4 The slopes of the four rotated edge lines, respectively.
And S6, adding the total deformation degree of each corner point of the reference area, the percentage change of the reference area and the deformation degree of the edge of the reference area to form the overall deformation degree of the reference area.
The calculation formula of the overall deformation degree of the reference region is shown as the following formula (13):
Q＝P+K+U (13)
wherein Q represents the overall deformation degree of the reference area; p represents a reference region ratio change; k represents the deformation degree of the edge of the reference area; u denotes the sum of the degrees of deformation of the corner points of the reference regions.
And S7, determining the actual rotation angle of the steering engine according to the mean value of the moving distance of each corner point of the reference object area, the whole deformation degree of the reference object area and the initial distance between the camera device and the reference object.
Calculating the actual moving distance of the reference object area according to the mean value of the moving distances of all corner points of the reference object area and the overall deformation degree of the reference object area;
the calculation formula of the actual moving distance of the reference area is shown in the following equation (14):
F＝w 1 A+w 2 Q (14)
wherein F represents an actual movement distance of the reference area; a represents the mean value of the moving distance of each corner point of the reference area; q represents the degree of deformation of the entire reference region; w is a 1 Is A corresponding to the weight, w 2 To Q correspond to the weight, w 1 And w 2 The operator can set the device according to the requirement. Here, since the importance of the distance moved by each corner point of the reference region, i.e., the importance of a is relatively large, w is 1 The value of (a) needs to be much larger than w 2 。
Setting the initial distance between the camera and the shooting plane of the reference object as h, and obtaining a coordinate point (m) mapped on the line where y is equal to h when the initial shooting angle of the camera is obtained 1 H), m) since the initial position of the camera lens is perpendicular to the shooting plane 1 0, and the rotated coordinate point (m) 2 H), m) when the image pickup apparatus rotates to the right 2 F, when the image pickup apparatus rotates to the left m 2 ＝-F。
A calculation formula of the actual rotation angle β of the robot is shown in the following equation (15):
wherein m is when the image pickup apparatus is rotated to the right 2 F, when the image pickup apparatus rotates to the left m 2 And F, h represents the initial distance of the camera from the reference object shooting plane.
And S8, calculating a difference value between the actual rotation angle and a preset rotation angle of the steering engine, and calibrating the steering engine according to the difference value.
The actual rotation angle of the robot is β, the preset rotation angle of the robot preset in the controller command is R, and the absolute value of the difference between β and R is used as an error value, which is calculated as shown in the following formula (16) in S7:
Z＝|β-R| (16)
wherein Z represents an error value; β represents an actual rotation angle of the robot; r represents a preset rotation angle. And the error value Z is a zero setting parameter, and zero setting software is controlled to carry out zero calibration on the robot steering engine.
In summary, the invention provides a method for calibrating the steering engine angle of a robot, which is characterized in that a camera device which is arranged on the robot and synchronously rotates along with the steering engine is used for shooting a before-rotation image which is just opposite to a reference object and a after-rotation image which is rotated relative to the reference object by the camera device. And processing the image before rotation and the image after rotation, and adding the total deformation degree of each corner point of the reference area in the image before rotation and the image after rotation, the ratio change of the reference area and the edge deformation degree of the reference area to be used as the overall deformation degree of the reference area. And determining the actual rotation angle of the steering engine according to the whole deformation degree of the reference object area, the mean value of the moving distance of each corner point of the reference object area and the initial distance between the camera device and the reference object when the camera device is over against the reference object. And then, carrying out zero setting calibration on the steering engine according to the difference value between the actual rotating angle and the preset rotating angle of the robot preset in the command of the controller.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A robot steering engine angle calibration method is characterized by comprising the following steps:
acquiring a pre-rotation image of the camera device facing a reference object and a post-rotation image of the camera device rotating relative to the reference object by using the camera device rotating synchronously with the steering engine;
matching each corner point of the reference area in the image before rotation and the image after rotation, and calculating a deformation degree sequence of each corner point of the reference area and a total deformation degree of each corner point of the reference area according to the vectors from each corner point of the reference area to the center of mass of the reference area;
calculating the mean value of the movement distance of each corner point of the reference object area according to the position coordinates of each corner point of the reference object area in the image before rotation and the image after rotation and the deformation degree of each corner point of the reference object area;
determining reference region pixel number ratio change according to the reference region pixel number ratio in the image before rotation and the reference region pixel number ratio in the image after rotation;
performing straight line fitting and matching on the edges of the reference regions in the image before rotation and the image after rotation, and determining the edge deformation degree of the reference regions according to the change of the slope of the straight line where the edges of the reference regions are located;
adding the total deformation degree of each corner point of the reference area, the occupation ratio change of the reference area and the edge deformation degree of the reference area to form the overall deformation degree of the reference area;
determining the actual rotation angle of the steering engine according to the mean value of the moving distance of each corner point of the reference object area, the whole deformation degree of the reference object area and the initial distance between the camera device and the reference object;
and calculating a difference value between the actual rotating angle and a preset rotating angle of the steering engine, and calibrating the steering engine according to the difference value.
2. The method for calibrating the angle of a robot steering engine according to claim 1, wherein the step of calculating the sequence of the deformation degree of each corner point of the reference object region and the total deformation degree of each corner point of the reference object region according to the vector from each corner point of the reference object region to the center of mass of the reference object region comprises the following steps:
acquiring a first vector sequence consisting of first vectors from each corner point of a reference region to the centroid of the reference region in the image before rotation;
acquiring a second vector sequence consisting of second vectors from each corner point of the reference area to the centroid of the reference area in the rotated image;
calculating a first absolute value of a corresponding vector difference value in the first vector sequence and the second vector sequence, and forming a sequence of deformation degrees of each corner point of the reference area by all the obtained first absolute values;
and taking the sum of the deformation degree sequences of the corner points of the reference area as the total deformation degree of the corner points of the reference area.
3. The method for calibrating the steering engine angle of the robot according to claim 1, wherein the step of calculating the mean value of the moving distance of each corner point of the reference object area according to the position coordinates of each corner point of the reference object area in the image before rotation and the image after rotation and the deformation degree of each corner point of the reference object area comprises the following steps:
acquiring first coordinates of each corner point of a reference region in the image before rotation;
acquiring second coordinates of each corner point of the reference region in the rotated image;
calculating the moving distance of each corner point of the reference area according to the first coordinate and the second coordinate;
all the obtained moving distance values form a moving distance set of each corner point of the reference area;
obtaining the ratio of the deformation degree of each corner point of the reference area to the total deformation degree of each corner point of the reference area, and taking each obtained ratio as the weight of the movement distance of each corner point of the reference area;
and calculating the mean value of the movement distance of each corner point of the reference object area according to the movement distance set of each corner point of the reference object area and the weight of the movement distance of each corner point of the reference object area.
4. The method for calibrating the steering engine angle of the robot according to claim 1, wherein the determining the change of the reference area ratio according to the ratio of the number of the reference area pixel points in the image before rotation and the ratio of the number of the reference area pixel points in the image after rotation comprises:
calculating the ratio of the number of pixel points of the reference region in the image before rotation to the total number of pixel points in the image before rotation, and recording the ratio as a first ratio;
calculating the ratio of the number of the pixel points of the reference region in the rotated image to the total number of the pixel points in the rotated image, and recording the ratio as a second ratio;
and changing the second ratio and the first ratio by taking the absolute value of the difference between the second ratio and the first ratio as a reference area ratio.
5. The method for calibrating the steering engine angle of the robot according to claim 1, wherein the step of fitting and matching the reference region edges in the image before rotation and the image after rotation to determine the degree of deformation of the reference region edges according to the change of the slope of the straight line where the reference region edges are located comprises the steps of:
performing linear fitting on the edges of the reference regions in the image before rotation to obtain a plurality of rotation front edge lines;
performing straight line fitting on the edges of the reference areas in the rotated image to obtain a plurality of rotated edge straight lines;
matching the plurality of rotating front edge straight lines with the plurality of rotating rear edge straight lines to obtain rotating front edge straight lines and rotating rear edge straight lines corresponding to all edges of the reference area;
and determining the deformation degree of the edges of the reference area according to the change of the slopes of the straight line of the front edge of the rotation and the straight line of the rear edge of the rotation corresponding to each edge of the reference area.
6. The method for calibrating the angle of the robot steering engine according to claim 1, wherein the step of determining the actual rotation angle of the steering engine according to the mean value of the moving distance of each corner point of the reference object region, the overall deformation degree of the reference object region and the initial distance between the camera device and the reference object comprises the following steps:
calculating the actual moving distance of the reference object area according to the mean value of the moving distances of all corner points of the reference object area and the overall deformation degree of the reference object area;
and determining the actual rotation angle of the steering engine according to the actual moving distance of the reference object region and the initial distance between the camera device and the reference object.
7. The method for calibrating the angle of a robot steering engine according to claim 3, wherein the calculating the mean value of the movement distance of each corner point of the reference area according to the set of movement distances of each corner point of the reference area and the weight of the movement distance of each corner point of the reference area comprises:
acquiring the moving distance of each corner point in the reference object region and the weight of the moving distance corresponding to the corner point;
multiplying the moving distance of each corner point in the reference object region by the weight of the moving distance corresponding to the corner point to obtain the weighted moving distance of each corner point;
adding the weighted moving distances of all the corner points in the reference object area to obtain the weighted moving distance sum of all the corner points in the reference object area;
dividing the weighted sum of the moved distances of all the corners in the reference region by the total number of all the corners in the reference region to obtain a mean value of the moved distances of the corners of the reference region.
8. The method for calibrating the steering engine angle of the robot according to claim 5, wherein the determining the degree of deformation of the edges of the reference object region according to the slope changes of the lines of the front edge of rotation and the back edge of rotation corresponding to the edges of the reference object region comprises:
calculating the change difference of the slopes of the straight line of the rotating front edge and the straight line of the rotating rear edge corresponding to each edge of the reference area, and recording the change difference as the slope change difference of the straight line of the edge;
and adding the absolute values of all the obtained edge straight line slope change differences to serve as the degree of edge deformation of the reference area.
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